Adaptive Tracking Control of an Exoskeleton Robot With Uncertain Dynamics Based on Estimated Time-Delay Control

• Published in: IEEE/ASME transactions on mechatronics Vol. 23; no. 2; pp. 575 - 585
• Main Authors: Brahmi, Brahim, Saad, Maarouf, Ochoa-Luna, Cristobal, Rahman, Mohammad Habibur, Brahmi, Abdelkrim
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Backstepping control; Delay; Delay effects; Disturbances; Dynamics; Exoskeletons; Parameter uncertainty; Rehabilitation; rehabilitation robots; Robot dynamics; Robot sensing systems; Robots; Robustness; time-delay control; time-delay error (TDR); Tracking control; Uncertainty

In this paper, we present a backstepping approach integrated with time-delay estimation to provide an accurate estimation of unknown dynamics and to compensate for external bounded disturbances. The control was implemented to perform passive rehabilitation movements with a 7-DOF exoskeleton robot na...